Automated ground handling of aircraft

• US 8,694,238 B2
• Filed: 01/18/2012
• Issued: 04/08/2014
• Est. Priority Date: 01/18/2012
• Status: Active Grant

• Current Assignee: Bombardier Transportation GmbH (Bombardier Incorporated)
• Original Assignee: Bombardier Transportation GmbH (Bombardier Incorporated)
• Inventors: Venkatasubramanian, Sathya Vagheeswar
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): CASTRO, PAUL A
• Application Number:
  US13/352,755
• Publication Number:
  US 20130184977A1
• Time in Patent Office: 811 Days
• Field of Search: None
• US Class Current: 701/301
• CPC Class Codes: G05D 1/0083 to help an aircraft pilot in the rolling phase
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0026 located on the ground
• CPC Class Codes: G08G 5/0082 for monitoring traffic from a ground station radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: G08G 5/065 Navigation or guidance aids, e.g. for taxiing or rolling

Abstract

In a system and method of navigating a plurality vehicles consisting of one or more standalone tugs, or one or more tug propelled aircraft, or some combination thereof on the grounds of an airport, a virtual safety zone is electronically defined around each vehicle. Movement of each vehicle on the grounds of an airport is controlled based on the virtual safety zones defined around the plurality of vehicles.

Claims

1. A method of navigating a plurality of vehicles consisting of one or more standalone tugs, or one or more tug propelled aircraft, or some combination thereof on the grounds of an airport, the method comprising:

(a) electronically defining around each vehicle a virtual safety zone;

(b) electronically controlling movement of each vehicle on the grounds of an airport based on the virtual safety zones defined around the plurality of vehicles; and

(c) electronically redefining at least one dimension of one virtual safety zone based on a sensor detecting that the vehicle associated with said one virtual safety zone changes from a standalone tug to a tug propelled aircraft, or vice versa, wherein the sensor is coupled to a controller of the tug.

2. The method of claim 1, wherein each vehicle consisting of a tug propelled aircraft is formed by mechanically coupling a tug having a tug virtual safety zone to an aircraft to form said vehicle having the electronically defined virtual safety zone of step (a) therearound.

3. The method of claim 1, further including electronically defining a virtual safety zone around each of one or more assets of the airport, wherein step (b) further includes electronically controlling movement of each vehicle on the grounds of an airport based on the virtual safety zone defined around each of the one or more assets of the airport.

4. The method of claim 3, wherein each asset of the airport includes one of the following:

a building, a structure, a fence, a wall, a gate, or some combination thereof.

5. The method of claim 1, wherein at least one dimension of at least one virtual safety zone defined around a vehicle changes based on a speed of said vehicle.

6. The method of claim 1, wherein step (b) includes electronically controlling movement of each vehicle to avoid overlap of virtual safety zones of two or more vehicles.

7. The method of claim 1, further including:

(d) electronically determining when the virtual safety zones of two vehicles overlap; and

(e) in response to step (d), electronically controlling said vehicles having the overlapping virtual safety zones to avoid physical contact.

8. The method of claim 1, wherein step (b) includes electronically controlling movement of the plurality of vehicles from a central control location based on position data, movement data, or both of the plurality of vehicles.

9. The method of claim 1, wherein step (b) includes each vehicle electronically controlling its movement based on position data, movement data, or both of at least one other vehicle received from a central control location.

10. The method of claim 1, wherein:

each virtual safety zone has the same dimensions;

or

at least one dimension of the virtual safety zone around each vehicle is based on at least one dimension of the vehicle.

11. The method of claim 1, wherein each virtual safety zone is an electronically defined two-dimensional space around the vehicle.

12. The method of claim 11, wherein the virtual safety zone around each vehicle electronically moves with movement of said vehicle.

13. A method of navigating a plurality of vehicles consisting of one or more standalone tugs, one or more tug propelled aircraft, or some combination thereof on the grounds of an airport, the method comprising:

(a) electronically defining a virtual safety zone around each of a plurality of vehicles;

(b) electronically monitoring position, movement, or both of each vehicle on the grounds of an airport;

(c) controlling movement of the plurality of vehicles on the grounds of the airport based on the electronically monitored position, movement, or both of each vehicle on the grounds of the airport in step (b) to avoid overlap of two or more virtual safety zones; and

(d) electronically redefining at least one dimension of one virtual safety zone based on a sensor detecting that the vehicle associated with said one virtual safety zone changes from a standalone tug to a tug propelled aircraft, or vice versa, wherein the sensor is coupled to a controller of the tug.

14. The method of claim 13, wherein:

step (a) includes electronically defining a virtual safety zone around an asset of the airport; and

step (c) includes controlling movement of the plurality of vehicles on the grounds of the airport based on the electronically defined virtual safety zone around the asset of the airport.

15. The method of claim 14, wherein the asset of the airport includes:

a building, a structure, a fence, a wall, a gate, or some combination thereof.

16. The method of claim 13, wherein at least one dimension of at least one virtual safety zone defined around a vehicle changes based on a speed of said vehicle.

17. The method of claim 13, wherein step (c) includes either:

movement of the plurality of vehicles being controlled from a central location;

or

each vehicle controlling its movement based on the position, the movement, or both of at least one other vehicle received from a central location.

18. The method of claim 13, wherein step (b) includes electronically monitoring from a central location.

19. The method of claim 13, further including:

(e) in response to two virtual safety zones overlapping, the two vehicles associated with the two overlapping virtual safety zones moving so that the two virtual safety zones become non-overlapping.

20. The method of claim 13, wherein:

each virtual safety zone has the same dimensions;

or

at least one dimension of the virtual safety zone around each vehicle is based on at least one dimension of the vehicle.

21. A system for navigating vehicles consisting of one or more standalone tugs, one or more tug propelled aircraft, or some combination thereof on the grounds of an airport comprising:

a plurality of vehicles, each vehicle including a position receiver, a radio transceiver and a controller that is operative for causing position data output by the position receiver to be radio transmitted by the radio transceiver; and

a central controller operative for receiving the position data that is radio transmitted by the radio transceiver of each vehicle, wherein movement of each of the plurality of vehicles is controlled by the central controller, the controller of said vehicle, or both based on the radio transmitted position data received by the central controller from said plurality of vehicles and based on a virtual safety zone electronically defined around each vehicle, wherein at least one dimension of one virtual safety zone is electronically redefined based on a sensor detecting that the vehicle associated with said one virtual safety zone changes from a standalone tug to a tug propelled aircraft, or vice versa, wherein the sensor is coupled to a controller of the tug.

22. The system of claim 21, wherein movement of each of the plurality of vehicles is further controlled based on a virtual safety zone electronically defined around one or more assets of the airport.

23. The system of claim 22, wherein each asset includes:

a building, a structure, a fence, a wall, a gate, or some combination thereof.

24. The method of claim 21, wherein at least one dimension of at least one virtual safety zone defined around a vehicle changes based on a speed of said vehicle.

25. The system of claim 21, wherein the virtual safety zone around each vehicle is electronically defined or redefined by the central controller.

26. The system of claim 21, wherein:

the controller of each vehicle electronically defines or redefines the virtual safety zone around said vehicle and causes information regarding said virtual safety zone to be radio transmitted by the radio transceiver; and

the central controller is operative for receiving the virtual safety zone data that is radio transmitted by the radio transceiver of the vehicle.

27. The system of claim 21, wherein each virtual safety zone represents a two-dimensional space around the vehicle.

28. The system of claim 21, wherein at least one dimension of the virtual safety zone around each vehicle is based on at least one dimension of the vehicle.

29. The system of claim 21, wherein the movement of each of the plurality of vehicles is controlled to avoid overlap of two or more virtual safety zones.

30. The system of claim 21, wherein the movement of each of the plurality of vehicles is controlled whereupon, in response to two virtual safety zones overlapping, the two vehicles associated with the overlapping virtual safety zones move such that the two virtual safety zones become non-overlapping.